EP2621809A4 - Apparatuses and methods for estimating the yaw angle of a device in a gravitational reference system using measurements of motion sensors and a magnetometer attached to the device - Google Patents
Apparatuses and methods for estimating the yaw angle of a device in a gravitational reference system using measurements of motion sensors and a magnetometer attached to the device Download PDFInfo
- Publication number
- EP2621809A4 EP2621809A4 EP11829985.8A EP11829985A EP2621809A4 EP 2621809 A4 EP2621809 A4 EP 2621809A4 EP 11829985 A EP11829985 A EP 11829985A EP 2621809 A4 EP2621809 A4 EP 2621809A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- estimating
- apparatuses
- measurements
- methods
- yaw angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000005259 measurement Methods 0.000 title 1
- 238000000034 method Methods 0.000 title 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measuring Magnetic Variables (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US38886510P | 2010-10-01 | 2010-10-01 | |
US41457010P | 2010-11-17 | 2010-11-17 | |
US41458210P | 2010-11-17 | 2010-11-17 | |
US41456010P | 2010-11-17 | 2010-11-17 | |
PCT/US2011/054275 WO2012044964A2 (en) | 2010-10-01 | 2011-09-30 | Apparatuses and methods for estimating the yaw angle of a device in a gravitational reference system using measurements of motion sensors and a magnetometer attached to the device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2621809A2 EP2621809A2 (en) | 2013-08-07 |
EP2621809A4 true EP2621809A4 (en) | 2017-12-06 |
Family
ID=45893772
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11829985.8A Withdrawn EP2621809A4 (en) | 2010-10-01 | 2011-09-30 | Apparatuses and methods for estimating the yaw angle of a device in a gravitational reference system using measurements of motion sensors and a magnetometer attached to the device |
Country Status (5)
Country | Link |
---|---|
US (1) | US20130185018A1 (ko) |
EP (1) | EP2621809A4 (ko) |
KR (1) | KR20130143576A (ko) |
CN (1) | CN103153790B (ko) |
WO (1) | WO2012044964A2 (ko) |
Families Citing this family (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2703779B1 (en) * | 2012-08-29 | 2020-03-25 | BlackBerry Limited | Stabilizing Orientation Values Of An Electronic Device |
US9310193B2 (en) | 2012-08-29 | 2016-04-12 | Blackberry Limited | Stabilizing orientation values of an electronic device |
US8915116B2 (en) * | 2013-01-23 | 2014-12-23 | Freescale Semiconductor, Inc. | Systems and method for gyroscope calibration |
WO2014151370A1 (en) * | 2013-03-15 | 2014-09-25 | Invensense, Inc. | Magnetometer using magnetic materials on accelerometer |
WO2014179449A1 (en) * | 2013-05-01 | 2014-11-06 | Hillcrest Laboratories, Inc. | Mapped variable smoothing evolution method and device |
US9482554B2 (en) | 2013-05-02 | 2016-11-01 | Hillcrest Laboratories, Inc. | Gyroscope stabilizer filter |
US10261176B2 (en) | 2013-05-15 | 2019-04-16 | Flir Systems, Inc. | Rotating attitude heading reference systems and methods |
WO2016036767A2 (en) * | 2014-09-02 | 2016-03-10 | Flir Systems, Inc. | Rotating attitude heading reference systems and methods |
US10175043B2 (en) | 2013-05-15 | 2019-01-08 | FLIR Belgium BVBA | Toroidal shape recognition for automatic compass calibration systems and methods |
CN105378429B (zh) * | 2013-05-15 | 2018-11-30 | 菲力尔系统公司 | 自动罗盘校准系统及相应的方法 |
US20150019159A1 (en) * | 2013-07-15 | 2015-01-15 | Honeywell International Inc. | System and method for magnetometer calibration and compensation |
EP2883272B1 (en) * | 2013-08-27 | 2016-06-15 | CommScope Technologies LLC | Alignment determination for antennas and such |
CN103619090A (zh) * | 2013-10-23 | 2014-03-05 | 深迪半导体(上海)有限公司 | 基于微型惯性传感器舞台灯光自动定位和追踪系统和方法 |
US10258256B2 (en) | 2014-12-09 | 2019-04-16 | TechMah Medical | Bone reconstruction and orthopedic implants |
GB2524802B (en) * | 2014-04-03 | 2018-11-07 | Nokia Technologies Oy | A magnetometer apparatus and associated methods |
US10274318B1 (en) * | 2014-09-30 | 2019-04-30 | Amazon Technologies, Inc. | Nine-axis quaternion sensor fusion using modified kalman filter |
WO2016074153A1 (en) * | 2014-11-11 | 2016-05-19 | Intel Corporation | Extended kalman filter based autonomous magnetometer calibration |
CN105352487B (zh) * | 2015-10-13 | 2018-06-15 | 上海华测导航技术股份有限公司 | 一种姿态测量系统的精度校准方法 |
KR102321695B1 (ko) * | 2015-12-16 | 2021-11-03 | 모하메드 라쉬완 마푸즈 | 관성 측정 유닛 캘리브레이션(imu calibration) |
WO2017158633A1 (en) * | 2016-03-17 | 2017-09-21 | Gipstech S.R.L. | Method for estimating the direction of motion of an individual |
CN106326576B (zh) * | 2016-08-26 | 2019-07-12 | 北京控制工程研究所 | 一种任意基准系下的整星偏置角动量的偏航估计方法 |
CN113804191B (zh) * | 2016-11-17 | 2024-03-19 | 格兰菲智能科技有限公司 | 移动设备及求取移动设备姿态的方法 |
TWI608320B (zh) * | 2016-12-19 | 2017-12-11 | 四零四科技股份有限公司 | 三維軌跡驗證裝置及其方法 |
US11280896B2 (en) | 2017-06-16 | 2022-03-22 | FLIR Belgium BVBA | Doppler GNSS systems and methods |
US10983206B2 (en) | 2017-11-07 | 2021-04-20 | FLIR Belgium BVBA | Low cost high precision GNSS systems and methods |
RU2653967C1 (ru) * | 2017-06-20 | 2018-05-15 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Саратовский государственный технический университет имени Гагарина Ю.А." (СГТУ имени Гагарина Ю.А.) | Способ автономной ориентации подвижных объектов |
CN107830861A (zh) * | 2017-12-07 | 2018-03-23 | 智灵飞(北京)科技有限公司 | 基于自适应增益互补滤波运动物体姿态测量方法及装置 |
WO2019168735A1 (en) | 2018-02-28 | 2019-09-06 | Idhl Holdings, Inc. | Methods and apparatus for planar magnetometer calibration, heading determination, gyroscope assisted magnetometer amplitude calibration, magnetometer amplitude and alignment calibration, magnetometer mapping, and sensor fusion |
CN109260647A (zh) * | 2018-09-10 | 2019-01-25 | 郑州大学 | 基于多模态信号的人体跳跃指标综合评测及训练系统 |
US12050114B2 (en) * | 2020-03-09 | 2024-07-30 | Deere & Company | Method and system for detection of roll sensor bias |
EP3926298A1 (fr) * | 2020-06-17 | 2021-12-22 | ETA SA Manufacture Horlogère Suisse | Instrument de navigation avec compensation d'inclinaison et méthode associée |
CN112902828B (zh) * | 2021-01-19 | 2023-09-08 | 陕西福音假肢有限责任公司 | 一种角度计算方法 |
CN112904884B (zh) * | 2021-01-28 | 2023-01-24 | 歌尔股份有限公司 | 足式机器人轨迹跟踪方法、设备及可读存储介质 |
DE102021109700A1 (de) | 2021-04-16 | 2022-10-20 | Airbus Operations Gmbh | Flugzustandsermittlungsvorrichtung und verfahren zum ermitteln eines flugzustandes eines flugzeugs |
CN113281824B (zh) * | 2021-05-19 | 2022-03-25 | 北京大学 | 一种考虑飞机非刚性以及极化电流因素的航空磁补偿方法 |
CN116817896B (zh) * | 2023-04-03 | 2024-04-16 | 盐城数智科技有限公司 | 一种基于扩展卡尔曼滤波的姿态解算方法 |
CN116772903B (zh) * | 2023-08-16 | 2023-10-20 | 河海大学 | 基于迭代ekf的sins/usbl安装角估计方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US20020059027A1 (en) * | 2000-09-02 | 2002-05-16 | Dong An | Digital signal processing method and system thereof for precision orientation measurements |
US20030204361A1 (en) * | 1998-12-09 | 2003-10-30 | Townsend Christopher P. | Solid state orientation sensor with 360 degree measurement capability |
US20050150122A1 (en) * | 2004-01-09 | 2005-07-14 | Samsung Electronics, Co., Ltd. | Input device for using geomagnetic sensor and a method thereof for generating input signal |
US20050188556A1 (en) * | 2004-02-26 | 2005-09-01 | Samsung Electronics Co., Ltd. | Geomagnetic sensor for informing users whether detected azimuth angle is acceptable, and a method thereof |
US20050190281A1 (en) * | 2004-02-27 | 2005-09-01 | Samsung Electronics Co., Ltd. | Portable electronic device for changing menu display state according to rotating degree and method thereof |
US20070119061A1 (en) * | 2005-11-25 | 2007-05-31 | Samsung Electronics Co., Ltd. | Geomagnetic sensor for computing azimuth and method thereof |
FR2933212A1 (fr) * | 2008-06-27 | 2010-01-01 | Movea Sa | Pointeur a capture de mouvement resolue par fusion de donnees |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5645077A (en) * | 1994-06-16 | 1997-07-08 | Massachusetts Institute Of Technology | Inertial orientation tracker apparatus having automatic drift compensation for tracking human head and other similarly sized body |
US6421622B1 (en) * | 1998-06-05 | 2002-07-16 | Crossbow Technology, Inc. | Dynamic attitude measurement sensor and method |
US6834436B2 (en) * | 2001-02-23 | 2004-12-28 | Microstrain, Inc. | Posture and body movement measuring system |
US6860023B2 (en) * | 2002-12-30 | 2005-03-01 | Honeywell International Inc. | Methods and apparatus for automatic magnetic compensation |
WO2005108119A2 (en) * | 2004-04-30 | 2005-11-17 | Hillcrest Laboratories, Inc. | Free space pointing devices with tilt compensation and improved usability |
CN101427570B (zh) * | 2004-04-30 | 2012-01-18 | 希尔克瑞斯特实验室公司 | 3d定位装置和方法 |
WO2006113391A2 (en) * | 2005-04-19 | 2006-10-26 | Jaymart Sensors, Llc | Miniaturized inertial measurement unit and associated methods |
US8239162B2 (en) * | 2006-04-13 | 2012-08-07 | Tanenhaus & Associates, Inc. | Miniaturized inertial measurement unit and associated methods |
US20070088496A1 (en) * | 2005-07-20 | 2007-04-19 | Atair Aerospace, Inc. | Automatic heading and reference system |
-
2011
- 2011-09-30 CN CN201180046886.8A patent/CN103153790B/zh not_active Expired - Fee Related
- 2011-09-30 KR KR1020137011278A patent/KR20130143576A/ko not_active Application Discontinuation
- 2011-09-30 US US13/824,538 patent/US20130185018A1/en not_active Abandoned
- 2011-09-30 WO PCT/US2011/054275 patent/WO2012044964A2/en active Application Filing
- 2011-09-30 EP EP11829985.8A patent/EP2621809A4/en not_active Withdrawn
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030204361A1 (en) * | 1998-12-09 | 2003-10-30 | Townsend Christopher P. | Solid state orientation sensor with 360 degree measurement capability |
US20020059027A1 (en) * | 2000-09-02 | 2002-05-16 | Dong An | Digital signal processing method and system thereof for precision orientation measurements |
US20050150122A1 (en) * | 2004-01-09 | 2005-07-14 | Samsung Electronics, Co., Ltd. | Input device for using geomagnetic sensor and a method thereof for generating input signal |
US20050188556A1 (en) * | 2004-02-26 | 2005-09-01 | Samsung Electronics Co., Ltd. | Geomagnetic sensor for informing users whether detected azimuth angle is acceptable, and a method thereof |
US20050190281A1 (en) * | 2004-02-27 | 2005-09-01 | Samsung Electronics Co., Ltd. | Portable electronic device for changing menu display state according to rotating degree and method thereof |
US20070119061A1 (en) * | 2005-11-25 | 2007-05-31 | Samsung Electronics Co., Ltd. | Geomagnetic sensor for computing azimuth and method thereof |
FR2933212A1 (fr) * | 2008-06-27 | 2010-01-01 | Movea Sa | Pointeur a capture de mouvement resolue par fusion de donnees |
US20110199298A1 (en) * | 2008-06-27 | 2011-08-18 | Movea S.A | Pointer with motion sensing resolved by data merging |
Also Published As
Publication number | Publication date |
---|---|
WO2012044964A3 (en) | 2012-07-26 |
KR20130143576A (ko) | 2013-12-31 |
US20130185018A1 (en) | 2013-07-18 |
EP2621809A2 (en) | 2013-08-07 |
CN103153790A (zh) | 2013-06-12 |
WO2012044964A2 (en) | 2012-04-05 |
CN103153790B (zh) | 2016-06-08 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20130430 |
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AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
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DAX | Request for extension of the european patent (deleted) | ||
A4 | Supplementary search report drawn up and despatched |
Effective date: 20171106 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: G01B 7/00 20060101ALI20171027BHEP Ipc: B64D 45/00 20060101AFI20171027BHEP Ipc: B64D 47/00 20060101ALI20171027BHEP Ipc: G05D 1/08 20060101ALI20171027BHEP |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20180605 |